How to see a path transform graph for animated object
In the motion paths section of the properties window you can calculate the motion path for the selected object.



For 2.8:



Press the "calculate button"

A graph of the movement and keyframes will show on the 3d Viewport.



Note that any changes on the animation or keyframes will not update autmatically, you need to hit the "update" path every time you make any changes.

For more precise control on animation use the graph editor.